From 2eace2f7150d8e94c73d0d3115fbfe1d97248040 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Fri, 1 Feb 2019 19:20:08 -0800
Subject: [PATCH] update mpi usage

---
 .../gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py  | 4 ++--
 examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py | 9 ++++++---
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py
index bc078323e..ff4eaa79f 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py
@@ -40,8 +40,8 @@ def main():
 
     # Command line arguments
     args = sys.argv[1:]
-
-    world = build_world(args, enable_draw=False)
+    enable_draw = False
+    world = build_world(args, enable_draw)
 
     run()
     shutdown()
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
index d8b6f90b2..0ed1afde8 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
@@ -15,6 +15,7 @@ from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env import PyBulletDeepMim
 import sys
 import random
 
+update_timestep = 1./600.
 
 def update_world(world, time_elapsed):
     timeStep = 1./600.
@@ -43,8 +44,9 @@ args = sys.argv[1:]
 
 
 
-def build_world(args, enable_draw, playback_speed=1):
+def build_world(args, enable_draw):
     arg_parser = build_arg_parser(args)
+    print("enable_draw=",enable_draw)
     env = PyBulletDeepMimicEnv(args, enable_draw)
     world = RLWorld(env, arg_parser)
     #world.env.set_playback_speed(playback_speed)
@@ -72,8 +74,9 @@ def build_world(args, enable_draw, playback_speed=1):
         world.reset()
     return world    
 
-world = build_world(args, True)
-while (world.env._pybullet_client.isConnected()):
+if __name__ == '__main__':
+    world = build_world(args, True)
+    while (world.env._pybullet_client.isConnected()):
       timeStep = 1./600.
       update_world(world, timeStep)